When I was using Ubuntu, I would plug my phone into my laptop and run this small script: https://gist.github.com/wheelercj/8cce112fc8ee55fd4858847a52...

It's mainly just rsync. When the phone was plugged in, the photos were accessible at a path like "/run/user/1000/gvfs/gphoto2:host=Apple_Inc._iPhone_abc123/".

Now I use Time Machine, but I still need to check whether it includes iCloud photos.